elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Successive Collaborative SLAM for Professional Use Cases: Map Learning Aspects

Kaiser, Susanna (2019) Successive Collaborative SLAM for Professional Use Cases: Map Learning Aspects. In: 2019 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2019. International Conference on Indoor Positioning and Indoor Navigation, IPIN 2019, 30. Sept. - 03. Okt. 2019, Pisa, Italien. ISSN 16130073.

[img] PDF - Only accessible within DLR
842kB

Abstract

Pedestrian navigation solely based on inertial measurement units in indoor environments is challenging if there is no signal of opportunity that can be exploited. In collaborative simultaneous localization and mapping (collaborative SLAM) the learned maps of several users can be combined in order to help indoor positioning. In this paper, we investigate the combination of the maps of several pedestrians and analyze the resulting position accuracy and the quality of the map. Depending on the number of users, on the sensor drifts, and on the amount of revisited area the quality of the maps varies. This paper provides a discussion about the map learning aspects and the advantages of successive collaborative mapping when there is no loop closure. The results show that even without loop closures the position error can be reduced to ~ 0.5m when applying successive collaborative mapping.

Item URL in elib:https://elib.dlr.de/128275/
Document Type:Conference or Workshop Item (Poster)
Title:Successive Collaborative SLAM for Professional Use Cases: Map Learning Aspects
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Kaiser, SusannaSusanna.Kaiser (at) dlr.deUNSPECIFIED
Date:October 2019
Journal or Publication Title:2019 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2019
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
ISSN:16130073
Status:Published
Keywords:pedestrian navigation, indoor navigation, simultaneous localization and mapping (SLAM), collaborative mapping, collaborative SLAM
Event Title:International Conference on Indoor Positioning and Indoor Navigation, IPIN 2019
Event Location:Pisa, Italien
Event Type:international Conference
Event Dates:30. Sept. - 03. Okt. 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Road Transport
DLR - Research area:Transport
DLR - Program:V ST Straßenverkehr
DLR - Research theme (Project):V - NGC KoFiF
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Kaiser, Dr.-Ing. Susanna
Deposited On:18 Oct 2019 10:19
Last Modified:14 Mar 2022 15:22

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Website and database design: Copyright © German Aerospace Center (DLR). All rights reserved.